# Control Barrier Functions for Multi-Agent Systems Under Conflicting Local Signal Temporal Logic Tasks

> Research article (IEEE Control Systems Letters, 2019) · cited 108× · AI/ML

**Wikidata**: [openalex:W2945541231](https://www.wikidata.org/wiki/openalex:W2945541231)  
**Source**: https://4ort.xyz/entity/control-barrier-functions-for-multi-agent-systems-under-conflicting-local-signal-temporal-logic-tasks